#ifndef __PID_H
#define __PID_H

int16_t Vertical_PID_value(float measure,float theoretic);
int16_t velocity_PID_value(int velocity);
void sd_xianfu(int max);
int16_t Trun_PID_value(float measure,float theoretic);


extern float zl_Kp,zl_Kd;   
extern float sd_Kp,sd_Ki;
extern float zx_Kp,zx_Kd;
#endif


